We represent dances as sequences of poses in the 24-joint SMPL format [1]}, using the 6-DOF rotation representation [2]} for every joint and a single root translation: \(\mathbf {w} \in \mathbb {R}^{24 \cdot 6 + 3 = 147}\) . For the heel and toe of each foot, we also include a binary contact label: \(\mathbf {b} \in \lbrace 0,1\rbrace ^{2 \cdot 2 = 4}\) . The total pose representation is therefore \(\mathbf {x} = \lbrace \mathbf {b} , \mathbf {w}\rbrace  \in \mathbb {R}^{4+147=151}.\) 
EDGE uses a diffusion-based framework to learn to synthesize sequences of \(N\)  frames, \(\mathbf {x} \in \mathbb {R}^{N\times 151}\) , given arbitrary music conditioning \(\mathbf {c}\) .
